/****************************************************************************
 *
 *   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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 ****************************************************************************/

#include "camera_interface.h"
#include <px4_platform_common/log.h>

void CameraInterface::get_pins()
{

	// Get parameter handle
	_p_pin = param_find("TRIG_PINS");

	_p_pin_ex = param_find("TRIG_PINS_EX");

	if (_p_pin == PARAM_INVALID && _p_pin_ex == PARAM_INVALID) {
		PX4_ERR("param TRIG_PINS not found");
		return;
	}

	// Set all pins as invalid
	for (unsigned i = 0; i < arraySize(_pins); i++) {
		_pins[i] = -1;
	}

	int32_t pin_list = 0;
	int32_t pin_list_ex = 0;

	if (_p_pin_ex != PARAM_INVALID) {
		param_get(_p_pin_ex, &pin_list_ex);
	}

	if (_p_pin != PARAM_INVALID) {
		param_get(_p_pin, &pin_list);
	}

	if (pin_list_ex == 0) {

		// Convert number to individual channels

		unsigned i = 0;
		int single_pin;

		while ((single_pin = pin_list % 10)) {

			_pins[i] = single_pin - 1;

			if (_pins[i] < 0) {
				_pins[i] = -1;
			}

			pin_list /= 10;
			i++;
		}

	} else {
		unsigned int p = 0;

		for (unsigned int i = 0; i < arraySize(_pins); i++) {
			int32_t v = (pin_list_ex & (1 << i)) ? i  : -1;

			if (v > 0) {
				_pins[p++] = v;
			}
		}
	}
}
